

task ArmInAuto (){
   clearTimer[T1];
   while(time1[T1]<time){ //millsecond
    motor[port2]=power;
	  motor[port3]=power;
  	motor[port4]=power;
  	motor[port7]=-power;
  	motor[port8]=-power;
  	motor[port9]=-power;
  }
  motor[port2]=motor[port3]=motor[port4]=motor[port7]=motor[port8]=motor[port9]=0;

}


task ChassisInAuto (int Lpower,int Rpower,int time){ //All positive by default
	clearTimer[T2];
	while(time1[T2]<time){
		motor[port5]=Lpower;
		motor[port6]=Rpower;
  }
	motor[port5]=0;
	motor[port6]=0;
}


task main()
{




}
